| Summary: | In prognostics and health management (PHM), the majority of fault detection and diagnosis is performed by adopting segregated methodology, where electrical faults are detected using motor current signature analysis (MCSA), while mechanical faults are detected using vibration, acoustic emission, or ferrography analysis. This leads to more complicated methods for overall fault detection and diagnosis. Additionally, the involvement of several types of data makes system management difficult, thus increasing computational cost in real-time. Aiming to resolve that, this work proposes the use of the embedded electrical current signals of the control unit (MCSA) as an approach to detect and diagnose mechanical faults. The proposed fault detection and diagnosis method use the discrete wavelet transform (DWT) to analyze the electric motor current signals in the time-frequency domain. The technique decomposes current signals into wavelets, and extracts distinguishing features to perform machine learning (ML) based classification. To achieve an acceptable level of classification accuracy for ML-based classifiers, this work extends to presenting a methodology to extract, select, and infuse several types of features from the decomposed wavelets of the original current signals, based on wavelet characteristics and statistical analysis. The mechanical faults under study are related to the rotate vector (RV) reducer mechanically coupled to electric motors of the industrial robot Hyundai Robot YS080 developed by Hyundai Robotics Co. The proposed approach was implemented in real-time and showed satisfying results in fault detection and diagnosis for the RV reducer, with a classification accuracy of 96.7%.
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